Automated self-testing

ABSTRACT

A flight-time variable associated with an aircraft is determined including by determining the flight-time variable while the aircraft is flying. It is determined whether the aircraft is airworthy based at least in part on the flight-time variable. In response to determining that the aircraft is not airworthy, the aircraft is automatically landed.

CROSS REFERENCE TO OTHER APPLICATIONS

This application is a continuation of U.S. patent application Ser. No.16/821,601, entitled AUTOMATED SELF-TESTING filed Mar. 17, 2020, whichis a continuation of U.S. patent application Ser. No. 16/355,542, nowU.S. Pat. No. 10,640,231, entitled AUTOMATED SELF-TESTING filed Mar. 15,2019, which is a continuation of U.S. patent application Ser. No.16/016,009, now U.S. Pat. No. 10,273,021, entitled AUTOMATEDSELF-TESTING filed Jun. 22, 2018, each of which is incorporated hereinby reference for all purposes.

BACKGROUND OF THE INVENTION

New types of ultralight aircraft are being developed for use byinexperienced pilots. Traditionally, a pilot does a preflight check ofthe aircraft (e.g., checking that the instruments work, a visualinspection of the exterior, etc.) but inexperienced pilots (e.g.,without much training) will not know what to look for. To further add tothe problem, ultralight aircraft require some checks which are not asimportant or necessary with heavier aircraft (e.g., where the payloadweight is a relatively small fraction of the total weight of theoccupied aircraft). New automated self-testing techniques would bedesirable because they permit inexperienced pilots to fly an aircraftwithout having to learn how to perform preflight checks.

BRIEF DESCRIPTION OF THE DRAWINGS

Various embodiments of the invention are disclosed in the followingdetailed description and the accompanying drawings.

FIG. 1 is a flowchart illustrating an embodiment of a process todetermine whether an aircraft is airworthy using a flight-time variable.

FIG. 2 is a diagram illustrating an embodiment of a pilot and baggageprior to boarding an aircraft.

FIG. 3 is a diagram illustrating an embodiment of an occupied aircraftduring an autonomous takeoff process.

FIG. 4 is a flowchart illustrating an embodiment of a process todetermine whether an aircraft is airworthy based at least in part on apayload-inclusive weight.

FIG. 5 is a flowchart illustrating an embodiment of a process todetermine whether an aircraft is airworthy, including whether theaircraft is marginally airworthy or completely airworthy, based at leastin part on a payload-inclusive weight.

FIG. 6A is a diagram illustrating an embodiment of a top view of anaircraft where a payload-inclusive center of gravity is determined andchecked.

FIG. 6B is a diagram illustrating an embodiment of a front view of anaircraft where a payload-inclusive center of gravity is determined andchecked.

FIG. 7 is a flowchart illustrating an embodiment of a process todetermine whether an aircraft is airworthy based at least in part on apayload-inclusive center of gravity.

FIG. 8 is a flowchart illustrating an embodiment of a process todetermine whether an aircraft is airworthy, including being marginallyairworthy or completely airworthy, based at least in part on apayload-inclusive center of gravity.

FIG. 9 is a diagram illustrating an embodiment of various devices fromwhich environmental information is obtained.

FIG. 10 is a flowchart illustrating an embodiment of a process todetermine whether an aircraft is airworthy based at least in part onenvironmental information obtained from a local weather station.

FIG. 11 is a flowchart illustrating an embodiment of a process todetermine whether an aircraft is airworthy based at least in part onenvironmental information obtained from a remote server.

DETAILED DESCRIPTION

The invention can be implemented in numerous ways, including as aprocess; an apparatus; a system; a composition of matter; a computerprogram product embodied on a computer readable storage medium; and/or aprocessor, such as a processor configured to execute instructions storedon and/or provided by a memory coupled to the processor. In thisspecification, these implementations, or any other form that theinvention may take, may be referred to as techniques. In general, theorder of the steps of disclosed processes may be altered within thescope of the invention. Unless stated otherwise, a component such as aprocessor or a memory described as being configured to perform a taskmay be implemented as a general component that is temporarily configuredto perform the task at a given time or a specific component that ismanufactured to perform the task. As used herein, the term ‘processor’refers to one or more devices, circuits, and/or processing coresconfigured to process data, such as computer program instructions.

A detailed description of one or more embodiments of the invention isprovided below along with accompanying figures that illustrate theprinciples of the invention. The invention is described in connectionwith such embodiments, but the invention is not limited to anyembodiment. The scope of the invention is limited only by the claims andthe invention encompasses numerous alternatives, modifications andequivalents. Numerous specific details are set forth in the followingdescription in order to provide a thorough understanding of theinvention. These details are provided for the purpose of example and theinvention may be practiced according to the claims without some or allof these specific details. For the purpose of clarity, technicalmaterial that is known in the technical fields related to the inventionhas not been described in detail so that the invention is notunnecessarily obscured.

Various embodiments of an automated self-testing technique are describedherein. In some embodiments, the process includes determining aflight-time variable associated with an aircraft, including by flyingthe aircraft and determining the flight-time variable while the aircraftis flying, determining whether the aircraft is airworthy based at leastin part on the flight-time variable, and in response to determining thatthe aircraft is not airworthy, automatically landing the aircraft. Insome embodiments, the process is performed by an ultralight aircraft(e.g., a flight controller or flight computer in the aircraft). As willbe described in more detail below, in some embodiments, due to thestrict weight restrictions on ultralight aircraft (e.g., to comply withFAA Part 103, a powered ultralight must weigh less than 254 pounds whenempty, excluding any floats and/or safety devices), the flight-timevariable or property is determined using existing and/or multi-purposeequipment on the aircraft so that new equipment does not need to beadded. For example, since the flight-time property is determined duringflight, in some embodiments the thrusts output by various rotors orpropellers on the aircraft are analyzed and used to estimate theflight-time property.

FIG. 1 is a flowchart illustrating an embodiment of a process todetermine whether an aircraft is airworthy using a flight-time variable.In some embodiments, the process is performed by an ultralight vehicleand/or an aircraft which is piloted by a relatively inexperienced pilot.For example, an inexperienced pilot may not know how to conduct apreflight check of the aircraft or other safety related best practices.

At 100, a flight-time variable associated with an aircraft isdetermined, including by determining the flight-time variable while theaircraft is flying. As used herein, the term flight-time variable refersto some metric, measurement, or parameter which can vary over timeand/or on a flight-by-flight basis such that its value is notnecessarily certain until the flight time. One example of a flight-timevariable is a payload-inclusive weight, which is a weight that includesthe payload, such as a payload (only) weight (e.g., the weight of thepilot plus any baggage) or the weight of the occupied aircraft (e.g.,the weight of the unoccupied aircraft, pilot, and any baggage). Otherexamples of flight-time variables include the center of mass of theaircraft when occupied (e.g., which depends upon the weight andpositioning of the pilot and any baggage), environmental and/or weatherinformation (e.g., an amount of precipitation, a temperature, a windspeed, air density, etc.), a thrust efficacy based on mechanical and/orelectrical condition of rotor, motor, and frame, etc.

In some embodiments, the aircraft performs an autonomous takeoff and theflight-time variable is determined at step 100 during such an autonomoustakeoff. Takeoffs and landings tend to be the most risky and/ordangerous part of a flight and since the pilot may be inexperienced, onebenefit of using an autonomous takeoff process is that it is safer thanhaving the pilot perform the takeoff. Another benefit is that anautonomous takeoff process will perform takeoffs in a more consistentand/or optimal manner, which may produce a better quality estimate ofthe flight-time variable. For example, an inexperienced pilot mayperform a non-optimal takeoff (e.g., jerky, too much thrust, etc.) whichmay result in the estimation process producing a poor qualityflight-time variable.

At 102, it is determined whether the aircraft is airworthy based atleast in part on the flight-time variable. For example, if theflight-time variable is a quantity, then there may be some range orthreshold of acceptable values for the flight-time variable. If theflight-time variable is outside of the range of acceptable values, thenthe aircraft is determined to be not airworthy. Some examples of thisare described in more detail below.

At 104, in response to determining that the aircraft is not airworthy,the aircraft automatically lands. For example, as described above, insome embodiments, the flight-time variable is determined during anautonomous takeoff process at step 100. In some embodiments, theairworthiness determination at step 102 is performed while theautonomous takeoff process is still running so that if the aircraftneeds to land at step 104, the autonomous takeoff process switches to anautonomous landing process (e.g., and the pilot never gets control of oruse of the hand controls).

In some embodiments, the airworthiness decision at 102 is non-binary(e.g., the aircraft can be deemed not airworthy, marginally airworthy,or completely airworthy using two thresholds and/or three ranges ofvalues). For example, determining whether the aircraft is airworthyincludes comparing the flight-time variable to a first threshold andcomparing the flight-time variable to a second threshold where the firstthreshold is less than the second threshold. In this example, it isdetermined that the aircraft is marginally airworthy in response todetermining that the flight-time variable exceeds the first thresholdand does not exceed the second threshold; it is determined that theaircraft is not airworthy in response to determining that theflight-time variable exceeds the second threshold. The aircraftautomatically lands in response to determining that the aircraft is notairworthy, including by automatically landing the aircraft in responseto determining that the flight-time variable exceeds the secondthreshold. Furthermore, the aircraft is configured with a set of one ormore constrained settings (e.g., a more conservative mode, disablingsome features/capabilities, lower maximums, etc.) in response todetermining that the aircraft is marginally airworthy. In thismarginally airworthy state, the aircraft is permitted to fly, but in amore conservative mode (e.g., for safety).

In some embodiments, an autonomous takeoff will not terminate or end(e.g., switch from an autonomous takeoff mode to a (semi-)manual flightmode where the pilot controls the aircraft) until the process of FIG. 1has completed. To put it another way, in some embodiments, the aircraftwill not let the pilot guide the aircraft (e.g., the joystick,thumbwheel, and/or any other input device is ignored) until the processof FIG. 1 deems the aircraft airworthy.

The following figures describe an example where the flight-time variableis a payload-inclusive weight and the aircraft will land if the payload(e.g., pilot and any baggage) is too heavy.

FIG. 2 is a diagram illustrating an embodiment of a pilot and baggageprior to boarding an aircraft. In the example shown, pilot 200 (or, moregenerally, an occupant) and baggage 202 (or, more generally, freight)will board aircraft 204. In this example, the aircraft (204) is asingle-seat ultralight aircraft which, per FAA Part 103, weighs lessthan 254 pounds empty (excluding any floats and/or safety devices) ifpowered (which in this example it is). The average weight of an adultAmerican man is 195.7 pounds according to the Centers for DiseaseControl. This means that for a Part 103 ultralight aircraft, the weightof the pilot (200) and any baggage (202) will greatly affect theperformance of the aircraft since the payload weight is such a largepercentage of the total weight of the occupied aircraft. As such, onecheck that the exemplary aircraft automatically performs is an overmass(e.g., overweight) check to ensure that the payload weight does notexceed some threshold (e.g., associated with safe flight). The followingfigure shows the occupied aircraft (i.e., with the pilot and baggage onboard) where a payload-inclusive weight is determined during anautomated takeoff process.

As an example of why an overmass situation would not be safe and/ordesirable, each of the rotors can only put out so much thrust. A heavierpayload eats into the available thrust margin (e.g., the amount ofthrust still available, given the current thrust level or amount).Intuitively, with less thrust margin, an aircraft will not be able torespond as quickly and/or as forcefully to certain situations as itwould with a lighter payload. In some embodiments, thrust is estimated(i.e., the thrust is not directly measured). In one example, thrust isestimated from combining electrical power, current, and the rotationalspeed (e.g., RPM) of the rotors with a model or lookup table of themotor/rotor combo.

FIG. 3 is a diagram illustrating an embodiment of an occupied aircraftduring an autonomous takeoff process. FIG. 3 continues the example ofFIG. 2 . In the state shown, the aircraft (300) is occupied and includesa pilot (302) and baggage (not shown). The occupied aircraft is in theprocess of performing an autonomous takeoff (in this example, a verticaltakeoff) where input or guidance from the pilot is not required toperform the takeoff and is in fact ignored.

In some embodiments, the aircraft has an altimeter which does not workbelow altitude 304 but works above altitude 304. In such embodiments,the aircraft ascends vertically during the autonomous takeoff processuntil it reaches a height where the altitude of the aircraft canaccurately and/or reliably be measured (e.g., at or near altitude 304).Once the aircraft's altitude can be measured (in this binary example),the thrusts associated with each of the aircraft's 10 rotors (306) areobtained at that altitude and are used to estimate the payload-inclusiveweight. In this example, the rotors of the aircraft rotate about asubstantially vertical axis and the aircraft does not use any wing-bornelift to remain airborne.

Alternatively, the aircraft may have multiple altitude measuringtechniques and/or technologies (e.g., a near-field technology ortechnique for lower altitudes and a far-field technology or techniquesfor higher altitudes where altitude 304 is at or near the switchingpoint between the two). At an altitude where the aircraft has the bestaltitude measurement (e.g., of the two techniques available, at least inthis example), the thrusts associated with each of the 10 rotors (306)are obtained. As before, the thrusts are used to estimate thepayload-inclusive weight (e.g., the weight of the payload alone or thetotal weight of the occupied aircraft).

From the 10 thrusts associated with the 10 exemplary rotors, thepayload-inclusive weight (e.g., just the payload weight or the weight ofthe occupied aircraft) can be determined. Generally speaking, the rotorsoutput more thrust for a heavier payload and the payload can bedetermined from the measured thrusts and the known altitude. In someembodiments, a lookup table is used to map the thrusts and altitude to adetermined payload weight and/or weight of the occupied aircraft. Thiscan include a ground effect model which improves the accuracy of theweight estimate by considering how the cushion of air below the aircraftreduces the required thrust to hover. In some embodiments, the altitudeat which the thrusts are obtained (and which was obtained using the bestavailable altitude measurement technique) is also used to estimate thepayload-inclusive weight.

In some embodiments, other factors are also taken into considerationwhen determining a payload-inclusive weight (e.g., in addition to thrustand/or altitude). For example, if there is a strong wind, the rotorswill have to output different amounts of thrust during a takeoffcompared to when there is no wind, even if the payload stays the same.As such, in some embodiments, wind speed and direction is taken intoconsideration when determining a payload-inclusive weight. Other factorswhich may be taken into consideration during estimation of the payloadweight include both air density and temperature. For example, warmer,less dense air will require the rotors to spin faster to produce thesame amount of thrust. These factors help determine the effectivepayload-inclusive weight. In other words, the effectivepayload-inclusive weight is the maximum weight capable of being flownand that value will change based on wind, temperature, density, etc.

In this example, once the payload-inclusive weight is determined, it iscompared against a weight threshold. In one example, it is a binarydecision: the payload-inclusive weight is either too heavy (i.e., itexceeds the weight threshold) and the aircraft is forced to land, or thepayload-inclusive weight is not too heavy (i.e., it does not exceed theweight threshold) and the aircraft is permitted to fly.

Alternatively, there may be multiple weight ranges and correspondinglevels of airworthiness. For example, if the payload-inclusive weight isless than a first, lower weight threshold, then the aircraft is deemedairworthy and is permitted to fly at full capacity and/or in anunrestricted manner.

If the payload-inclusive weight is between the first, lower weightthreshold and a second, higher weight threshold (e.g., a “gray zone”where the payload-inclusive weight is on the heavier side and couldimpede responsiveness and/or performance but is not so heavy that theaircraft should be forced to land), then the aircraft is permitted tofly, but with reduced capacity and/or in a more conservative mode orsetting. For example, the heavier payload-inclusive weight may mean thatthe aircraft cannot stop as quickly and/or turn as quickly. For safetyreasons, the aircraft in this gray zone may be automatically configuredto have a lower maximum speed and/or permit the pilot less authoritywith respect to banking, yawing, or other turning or rotating type ofmovement. This is because with a heavier payload, the aircraft may notbe able to turn as tightly, stop as quickly, etc. and the reduced orotherwise constrained maximums or settings will enable the aircraft tofly safely and/or properly, even with the relatively heavy payload.

If the payload-inclusive weight is greater than the second, higherweight threshold, then the aircraft is determined to be not airworthyand the aircraft is forced to land. For example, if this process isperformed during an autonomous takeoff process, then the aircraft mayswitch from an autonomous takeoff process to an autonomous landingprocess.

Some other types of aircraft use dedicated sensors, such as pressuresensors, to determine or otherwise estimate the payload weight (or,alternatively, the weight of the occupied aircraft). However, thisrequires the addition of the sensors which add to the weight and cost ofthe aircraft and the sensors are only used to estimate the payloadweight. For ultralight vehicles with very stringent weight limitations,every additional pound and device matters. One benefit to determiningthe payload weight using the thrusts associated with the rotors is thatthe sensors and/or measuring devices used (e.g., the altimeter, thrustmeasurement devices, etc.) are already included in the aircraft so thatadditional parts or components do not need to be added to the aircraft.

The following figures describe the examples above more generally andformally in flowcharts.

FIG. 4 is a flowchart illustrating an embodiment of a process todetermine whether an aircraft is airworthy based at least in part on apayload-inclusive weight. FIG. 4 is related to FIG. 1 and forconvenience the same or similar reference numbers are used to indicaterelated steps.

At 100 a, a flight-time variable associated with an aircraft isdetermined, including by determining the flight-time variable while theaircraft is flying, wherein the flight-time variable includes apayload-inclusive weight and determining the payload-inclusive weightincludes obtaining a thrust associated with a rotor while the aircraftis flying and determining the payload-inclusive weight based at least inpart on the thrust. In some embodiments, the payload-inclusive weight isjust the weight of the pilot and any baggage (e.g., pilot 200 andbaggage 202 in FIG. 2 ). In some embodiments, the payload-inclusiveweight is the weight of the occupied aircraft (e.g., pilot 200, baggage202, and unoccupied aircraft 204 in FIG. 2 ).

In one example of step 100 a, in FIG. 3 , once the aircraft (300)reaches an altitude where the most accurate altitude measurement isavailable, the thrusts output by the 10 rotors (306) are obtained. Fromthe thrusts, the payload-inclusive weight is determined. In someembodiments, the altitude at which the thrust(s) is/are obtained is alsoused in determining the payload-inclusive weight. In some embodiments,other factors and/or variables are taken into consideration whendetermining the payload-inclusive weight.

At 102 a, it is determined whether the aircraft is airworthy based atleast in part on the flight-time variable, including by comparing thepayload-inclusive weight to a weight threshold. For example, if thepayload-inclusive weight exceeds the weight threshold, then it isdecided that the aircraft is not airworthy. If the payload-inclusiveweight does not exceed the weight threshold, then it is decided that theaircraft is airworthy.

At 104 a, in response to determining that the aircraft is not airworthy,the aircraft automatically lands, including by automatically landing theaircraft in response to determining that the payload-inclusive weightexceeds the weight threshold. For example, if steps 100 a and 102 a areperformed during an autonomous takeoff process (see, e.g., FIG. 3 ),then the aircraft may switch from an autonomous takeoff process to anautonomous landing process.

In some embodiments, the aircraft which performs the process of FIG. 4is a vertical takeoff and landing (VTOL) aircraft, one example of whichis shown in FIG. 2 and FIG. 3 . Performing an airworthiness check whilea VTOL aircraft is taking off may be safer and/or easier to implementthan with a conventional takeoff and landing (CTOL) aircraft which useswing-borne lift to stay airborne. For example, with a CTOL aircraft, ifthe aircraft is deemed not airworthy after the CTOL has taken off, toautonomously land, the CTOL aircraft would have to circle back, locatethe runway, decide if the runway is clear, and then land on the runway,all autonomously. In contrast, with a VTOL aircraft, the landing zonebeneath the aircraft will probably remain unoccupied while the VTOLaircraft is taking off and so if the VTOL aircraft needs to autonomouslyland because the aircraft is deemed not airworthy, the landing zone willstill probably be clear. Also, landing vertically in an autonomousmanner is a much simpler problem to solve than a conventional landing.

FIG. 5 is a flowchart illustrating an embodiment of a process todetermine whether an aircraft is airworthy, including whether theaircraft is marginally airworthy or completely airworthy, based at leastin part on a payload-inclusive weight. FIG. 5 is related to FIG. 1 andfor convenience the same or similar reference numbers are used toindicate related steps.

At 100 b, a flight-time variable associated with an aircraft isdetermined, including by determining the flight-time variable while theaircraft is flying, wherein the flight-time variable includes apayload-inclusive weight and determining the payload-inclusive weightincludes obtaining a thrust associated with a rotor while the aircraftis flying and determining the payload-inclusive weight based at least inpart on the thrust.

At 102 b, it is determined whether the aircraft is airworthy based atleast in part on the flight-time variable, including by comparing thepayload-inclusive weight to a first weight threshold and comparing thepayload-inclusive weight to a second weight threshold, wherein the firstweight threshold is less than the second weight threshold. As describedabove, if the payload-inclusive weight does not exceed the first,lighter weight threshold, then the aircraft is determined to becompletely and/or unreservedly airworthy. If the payload-inclusiveweight is between the two weight thresholds, then the aircraft isdetermined to be marginally and/or somewhat airworthy. If thepayload-inclusive weight exceeds the second, heavier weight threshold,then the aircraft is determined to be not airworthy.

At 104 b, in response to determining that the aircraft is not airworthy,the aircraft automatically lands, including by automatically landing theaircraft in response to determining that the payload-inclusive weightexceeds the second weight threshold. For example, it may be unsafe tofly the aircraft if the payload is too heavy, and this check will ensurethat the aircraft automatically lands if this scenario is detected. Forexample, an autonomous landing process may be initiated and/or theaircraft may ignore whatever the pilot is indicating through the inputdevices (e.g., a joystick, a thumbwheel, etc.).

At 500, in response to determining that the aircraft is marginallyairworthy, the aircraft is configured with a set of one or moreconstrained settings, wherein it is determined that the aircraft ismarginally airworthy in response to determining that thepayload-inclusive weight exceeds the first weight threshold and does notexceed the second weight threshold. In this scenario, the aircraft is onthe heavier side (e.g., enough so where flying at full capacity could bedangerous or undesirable in some other manner) but not so heavy that theaircraft should not be permitted to fly at all. As such, the aircraft isconfigured with reduced or constrained settings so that it cannot fly atfull capacity (e.g., it is configured to be in a conservative and/orreduced mode). Generally speaking, a constrained setting reduces orotherwise constrains the aircraft, limiting the performance and/orflight capabilities in some manner. For example, a constrained settingmay reduce a maximum speed, a maximum attitude, a maximum acceleration,a maximum body rate, etc. that the aircraft is permitted to fly atbecause the aircraft cannot stop as quickly or turn as tightly asbefore.

In the third scenario (e.g., the payload-inclusive weight is less thanthe first, lighter threshold), the aircraft is deemed (e.g., completelyand/or unreservedly) airworthy and the aircraft is configured orotherwise permitted to fly at a full and/or unrestricted capacity (e.g.,the aircraft is configured or otherwise set with unconstrained and/orfull-capacity settings).

In some embodiments, the flight-time variable that is checked is apayload-inclusive center of gravity (e.g., when the aircraft is occupiedwith a pilot and any baggage). The following figures describe an exampleof this.

FIG. 6A is a diagram illustrating an embodiment of a top view of anaircraft where a payload-inclusive center of gravity is determined andchecked. In this example, the 10-rotor aircraft described above is shownfrom a top view. Although aircraft 600 a is occupied and is described assuch, to more clearly show center of gravity 602 a and threshold 604 a,the diagram does not show a pilot nor baggage in the cockpit.

In the example shown, a payload-inclusive center of gravity (602 a) isdetermined, where the payload-inclusive center of gravity is the centerof gravity when the aircraft is occupied by the payload, such as a pilotand baggage. As described above, the exemplary aircraft shown here is anultralight vehicle where the weight of the payload can greatly affectthe responsiveness and/or performance of the aircraft because the weightof the unoccupied aircraft and the payload are on the same order ofmagnitude. To ensure the payload-inclusive center of gravity, once thepilot and any baggage are in the aircraft, the center of gravity isestimated and checked to ensure that it is not too far off from someideal or expected center of gravity.

In this example, the center of gravity is estimated during takeoff. Insome embodiments, as described above, the aircraft waits until itreaches an altitude where an accurate altitude measurement is available(or a most accurate measurement technique is available) and thenmeasures or otherwise obtains the thrust at the now-known altitude. Thegeometry of the 10 rotors (610) is known so that the center of gravitycan be estimated given the 10 thrusts and geometry of the rotors. Forexample, if the aircraft is level but the rotors on the left side of theaircraft (606 a) are outputting more thrust than their counterpartrotors on the right side (608 a), then that is indicative of a center ofgravity that is left-of-center since the rotors on the left side areworking harder to keep that side airborne.

Once the center of gravity has been estimated or otherwise determined,it is compared against a center of gravity threshold. In the exampleshown here, the threshold (604 a) is represented by a three-dimensional(3D) ellipsoid. If the measured or determined payload-inclusive centerof gravity (602 a) is within the ellipsoid (604 a), as is shown here,then the aircraft is determined to be airworthy. However, if thepayload-inclusive center of gravity (602 a) is outside of the ellipsoid(604 a), not shown here, then the aircraft is determined to be notairworthy and is forced to land.

In some embodiments, not only are there be several “tiers” for a givenmetric (e.g., full flight, reduced flight, no flight), but theconditions may be completely continuous. For example, there may be adistribution function around a variable of interest (e.g., mass, centerof gravity, etc.) where for any given value, a unique set of slightparameters is obtained or otherwise generated, where in the extremes,those flight parameters do not allow the aircraft to take off at all orforce an auto-landing. A continuous function may be attractive becauseit offers a seamless flight experience with no abrupt changes, and theflight parameters at the extreme values make the aircraft safer.

The following figure shows the same diagram from a front view.

Since FIG. 6A shows a top view of all of the rotors, this is aconvenient time to describe the aircraft and its operation in moredetail. In this example, all of the rotors in a particular column (e.g.,going from the front of the multicopter to the rear of the multicopter)have alternating directions of rotation. This alternation may enable themulticopter to fly more efficiently. A rotor creates lift when the bladeis traveling against the direction of wind and does not create lift whenit spins in the direction of wind. By stacking up alternating rotors onebehind the next in the direction of flight (e.g., typically forwards),the multicopter may experience a consistent amount of lift and/ordecreased intervals of decreased lift.

TABLE 1 Directions of rotation for the exemplary rotors shown in FIG.6A. Rotor Direction of Rotation (viewed from above) Right Inner FrontRotor Counterclockwise Right Outer Front Rotor Counterclockwise RightInner Middle Rotor Clockwise Right Outer Back Rotor Clockwise RightInner Back Rotor Counterclockwise Left Inner Back Rotor Clockwise LeftOuter Back Rotor Counterclockwise Left Inner Middle RotorCounterclockwise Left Outer Front Rotor Clockwise Left Inner Front RotorClockwise

The directions of rotations shown here are selected based on a varietyof factors. In some embodiments, rotors that are opposite to each otheron the aircraft (e.g., where the fuselage is the axis of symmetry) mayrotate in opposing directions to balance torque.

Each of the rotors is attached in a fixed manner to the exemplarymulticopter with some fixed roll angle and fixed pitch angle. In thisexample, each rotor's tilt position is described using two angles: aroll angle and a pitch angle. The roll angle is defined by the rollaxis, sometimes referred to as an x-axis, where a positive roll anglefollows the right-hand direction of rotation and a negative roll angleis in the opposite direction. Similarly, the pitch angle for each rotoris defined by the pitch axis, sometimes referred to as a y-axis, where apositive pitch angle follows the right-hand direction of rotation and anegative pitch angle is in the opposite direction.

The following table lists the roll angle and pitch angle for each rotorin this example. It is noted that opposite rotors (e.g., where thefuselage acts as an axis of symmetry) have roll angles of the samemagnitude but opposite signs and the same pitch angle. Generallyspeaking, the roll angles and pitch angles have magnitudes within therange of 0 degrees and 10 degrees.

TABLE 2 Tilt positions for the exemplary rotors shown in FIG. 6A. RollAngle Pitch Angle Rotor (in degrees) (in degrees) Right Inner FrontRotor 3.0 0.0 Right Outer Front Rotor −2.0 −3.0 Right Inner Middle Rotor−4.0 −9.0 Right Outer Back Rotor −2.0 −10.0 Right Inner Back Rotor −7.0−2.0 Left Inner Back Rotor 7.0 −2.0 Left Outer Back Rotor 2.0 −10.0 LeftInner Middle Rotor 4.0 −9.0 Left Outer Front Rotor 2.0 −3.0 Left InnerFront Rotor −3.0 0.0

One benefit of the exemplary multirotor shown here is that it ispossible to nearly directly estimate the main body-frame moments on thevehicle (coming from the motor thrusts), leading to a direct calculationof the center of gravity of the vehicle. This is not possible or atleast is much harder with some other types of aircraft (e.g., aconventional takeoff and landing aircraft) since there is not the sameand/or as much insight into all of the main body moments.

FIG. 6B is a diagram illustrating an embodiment of a front view of anaircraft where a payload-inclusive center of gravity is determined andchecked. In the example shown, Aircraft 600 b is shown from the frontwith left rotors (606 b) and right rotors (608 b) shown for reference.As before, ellipsoid 604 b represents the threshold against which themeasured payload-inclusive center of gravity (602 b) is compared.

In the example shown here, a binary airworthiness decision is made: theaircraft either is airworthy or it is not airworthy (which is why only asingle threshold or ellipsoid is shown). Similar to the weight exampledescribed above, in some embodiments (not shown here) the aircraft ispermitted to fly in a restricted, reduced, or otherwise moreconservative mode if the center of gravity is in a sort of gray zone.For example, there may be two thresholds represented by two concentricellipsoids and if the center of gravity is between the two ellipsoidsthen the aircraft is permitted to fly with reduced settings or in areduced mode.

The following figures describe these center of gravity examples moreformally and/or generally in a flowchart.

FIG. 7 is a flowchart illustrating an embodiment of a process todetermine whether an aircraft is airworthy based at least in part on apayload-inclusive center of gravity. FIG. 7 is related to FIG. 1 and forconvenience the same or similar reference numbers are used to indicaterelated steps.

At 100 c, a flight-time variable associated with an aircraft isdetermined, including by determining the flight-time variable while theaircraft is flying, wherein the flight-time variable includes apayload-inclusive center of gravity and determining thepayload-inclusive center of gravity includes obtaining a thrustassociated with a rotor while the aircraft is flying and determining thepayload-inclusive center of gravity based at least in part on thethrust. See, for example, FIG. 6A. The thrusts from each of the 10rotors may be obtained at an altitude (e.g., which is itself measured orotherwise determined) and used to estimate the center of gravity (602a). For example, due to the symmetry of the rotors about the fuselage,if one side is outputting more thrust than the other side, the center ofmass is off-center (as shown in FIG. 6A where the X mark (602) shows theoccupied center of gravity and the circle (612) shows the ideal orexpected center of gravity). From the geometry and/or arrangement of therotors, plus historic testing, the center of gravity may be determined.

At 102 c, it is determined whether the aircraft is airworthy based atleast in part on the flight-time variable, including by comparing thepayload-inclusive center of gravity to a center of gravity thresholdrepresented by a three-dimensional (3D) shape. For example, in FIG. 6Aand FIG. 6B, if the center of gravity (e.g., 602 a/602 b) is inside ofellipsoid 604 a/604 b, then the aircraft is determined to be airworthy.If the center of gravity is outside of the ellipsoid in that example,then the aircraft is determined to not be airworthy.

At 104 c, in response to determining that the aircraft is not airworthy,the aircraft automatically lands, including by automatically landing theaircraft in response to determining that the payload-inclusive center ofgravity exceeds the center of gravity threshold represented by the 3Dshape. For example, if steps 100 c and 102 c are performed during anautomated takeoff process, then the automated process may end and anautomated landing process may begin.

FIG. 8 is a flowchart illustrating an embodiment of a process todetermine whether an aircraft is airworthy, including being marginallyairworthy or completely airworthy, based at least in part on apayload-inclusive center of gravity. FIG. 8 is related to FIG. 1 and forconvenience the same or similar reference numbers are used to indicaterelated steps.

At 100 d, a flight-time variable associated with an aircraft isdetermined, including by determining the flight-time variable while theaircraft is flying, wherein the flight-time variable includes apayload-inclusive center of gravity and determining thepayload-inclusive center of gravity includes obtaining a thrustassociated with a rotor while the aircraft is flying and determining thepayload-inclusive center of gravity based at least in part on thethrust. For example, center of gravity 602 a and 602 b may be determinedusing the thrusts from the 10 rotors shown in FIG. 6A and FIG. 6B.

At 102 d, it is determined whether the aircraft is airworthy based atleast in part on the flight-time variable, including by comparing thepayload-inclusive center of gravity to a first center of gravitythreshold represented by a first three-dimensional (3D) shape andcomparing the payload-inclusive center of gravity to a second center ofgravity threshold represented by a second 3D shape, wherein the firstcenter of gravity threshold is less than the second center of gravitythreshold. For example, although not shown in FIG. 6A and FIG. 6B, insome embodiments, the two center of gravity thresholds are representedby two concentric 3D ellipsoids.

At 104 d, in response to determining that the aircraft is not airworthy,the aircraft automatically lands, including by automatically landing theaircraft in response to determining that the payload-inclusive center ofgravity exceeds the second center of gravity threshold. For example, thecenter of gravity may be so far off from center that it is unsafe and/orundesirable to let the aircraft fly.

At 800, in response to determining that the aircraft is marginallyairworthy, the aircraft is configured with a set of one or more reducedsettings, wherein it is determined that the aircraft is marginallyairworthy in response to determining that the payload-inclusive centerof gravity exceeds the first center of gravity threshold and does notexceed the second center of gravity threshold. For example, although theaircraft is permitted to fly, the pilot may not be able to have as muchautonomy or freedom. For example, with an off-center center of gravity,it may be judicious and/or safer to reduce some maximum attitude (e.g.,angled and/or tilted position) at which the aircraft can fly at.

Returning briefly to FIG. 1 , in some embodiments, the flight-timevariable is an environmental and/or weather-related variable and/ormeasurement. The following figure describes some examples of how suchinformation may be obtained.

FIG. 9 is a diagram illustrating an embodiment of various devices fromwhich environmental information is obtained. In the example shown,environmental information including (but not limited to) weatherinformation such as an amount of precipitation, temperature, wind speed,and air density is obtained.

In some embodiments, the aircraft (900) communicates with a localweather station (904) over a wireless channel (902) and obtains theenvironmental information from the local weather station. For example,if there is a popular location where pilots come to fly their aircraft(e.g., some open field, a lake, an airport, etc.), it may be worthwhileto install a local weather station at that location that can measureprecipitation, temperature, wind speed, air density, etc. so that localand accurate weather information can be provided to the aircraft there.

Local weather stations may also be attractive and/or desirable inlocations where weather conditions can change quickly and/or there aremicroclimates. For example, even within the city of San Francisco (whichis relatively small), the weather on the western side of the city canvary greatly from the weather on the eastern side of the city. A localweather station may be able to provide more accurate weather informationthan other techniques.

In some embodiments, the aircraft (900) communicates with the localweather station (904) over a wireless channel (902) with a limiteddistance (e.g., radio, WiFi, etc.). By using a limited distancecommunication technology, it is not necessary for the aircraft toprovide a location or position since the aircraft must be locatedrelatively close to the local weather station in order for the localweather station to communicate with the aircraft. This also helps toensure that the aircraft obtains relevant and/or accurate environmentalinformation from a nearby (and therefore relevant and/or accurate)weather station.

In some embodiments (e.g., if there is no local weather station at thetakeoff location), a remote server (906) may be contacted via thewireless channel (902) in order to obtain weather information at orassociated with the aircraft's location. For example, the aircraft (900)may have a GPS system (not shown) and provide the remote server (906)with its GPS location. From the GPS location, the remote server makelook up or otherwise obtain weather information for and/or based on thatGPS location and return it to the aircraft.

In some embodiments, the weather information is used to estimate aflight-time variable (e.g., in step 100 a in FIG. 4 and/or in step 100 bin FIG. 5 ). For example, as described above, in some embodiments, apayload-inclusive weight is determined or otherwise estimated using windspeed to account for how the wind affects the thrust so that the weightestimation is more accurate. In some embodiments, the weatherinformation is used as the flight-time variable itself. For example, itmay be unsafe to fly at certain temperatures, wind speeds, and/or airdensities. In some embodiments, an airworthiness check is performedusing weather information.

In the examples described above, the weather information is obtainedusing wireless communication modules or blocks (e.g., radio, WiFi,cellular data networks such as 4G, 4G LTE, etc.) and/or positionlocators (e.g., a GPS module or block). These modules or blocks are usedfor a variety of purposes (e.g., navigation, communication, etc.) andare already included in the aircraft and as such there is no need to addnew and/or additional devices or components. In contrast, some othertypes of aircraft may include weather measuring and/or monitoringequipment (e.g., wind sensors to measure wind speed) which add to theweight of the aircraft. As described above, for ultralight aircraft, theweight restrictions are very stringent and so being able to reuseexisting equipment is very desirable.

In some embodiments, environmental information is obtained through othertechniques. For example, since the exemplary aircraft has rotors whichcut through the air, in some embodiments, the air density is estimatedusing information associated with the rotors such as thrust (e.g.,represented by an amount of current fed into each of the rotors) and/orthe rotational speed of the rotors. In general, low air densitymanifests itself exactly like a heavier pilot. Thus, a 190 lb. personmay “look” to the thrust estimator like a 200 lb. person when flying ataltitude. From a safety perspective, this “perceived” weight is ofinterest, not the true weight of the pilot. Therefore, although it maynot be possible to measure the air density directly, protection againstthe effects due to low air density can be achieved by estimating the“perceived” weight of the pilot.

The following flowcharts describe the examples above more generallyand/or formally.

FIG. 10 is a flowchart illustrating an embodiment of a process todetermine whether an aircraft is airworthy based at least in part onenvironmental information obtained from a local weather station. FIG. 10is related to FIG. 1 and for convenience the same or similar referencenumbers are used to indicate related steps.

At 100 e, a flight-time variable associated with an aircraft isdetermined, including by determining the flight-time variable while theaircraft is flying wherein the flight-time variable includesenvironmental information and determining the environmental informationincludes communicating over a wireless channel with a local weatherstation. For example, in FIG. 9 , the aircraft (900) communicates withlocal weather station 904 over wireless channel (902). In variousembodiments, the local weather station may include equipment to measurerainfall, the temperature, wind speed, atmospheric pressure, and/or airdensity so that corresponding measurements may be provided to theaircraft. As described above, the wireless channel may be a short-rangecommunication technology.

At 102, it is determined whether the aircraft is airworthy based atleast in part on the flight-time variable. For example, for safetyand/or comfort, the aircraft may not be permitted to fly if it israining, too hot/cold, too windy, atmospheric pressure is too low (e.g.,possibly indicative of an incoming storm), air density is too low (e.g.,rotors have to work harder to stay airborne, which depletes batteriesfaster and/or can demagnetize the magnets in the rotors if they aredrawing too much current for too long of a (e.g., sustained) time) etc.

In some embodiments, this decision at step 102 is a binary decision. Asdescribed above, in some other embodiments, there may be multiple rangesof values against which the environmental information is compared, eachwith an associated degree or level of airworthiness (e.g., notairworthy, marginally airworthy, completely airworthy, etc.).

At 104, in response to determining that the aircraft is not airworthy,the aircraft automatically lands.

FIG. 11 is a flowchart illustrating an embodiment of a process todetermine whether an aircraft is airworthy based at least in part onenvironmental information obtained from a remote server. FIG. 11 isrelated to FIG. 1 and for convenience the same or similar referencenumbers are used to indicate related steps.

At 100 f, a flight-time variable associated with an aircraft isdetermined, including by determining the flight-time variable while theaircraft is flying wherein the flight-time variable includesenvironmental information and determining the environmental informationincludes sending, via a wireless channel to a remote server, locationinformation of the aircraft and receiving, via the wireless channel fromthe remote server, the environmental information in response to thelocation information. See, for example, remote server 906 which returnsenvironmental information to aircraft 900 based on the provided GPSlocation information.

At 102, it is determined whether the aircraft is airworthy based atleast in part on the flight-time variable.

At 104, in response to determining that the aircraft is not airworthy,the aircraft automatically lands.

Although the foregoing embodiments have been described in some detailfor purposes of clarity of understanding, the invention is not limitedto the details provided. There are many alternative ways of implementingthe invention. The disclosed embodiments are illustrative and notrestrictive.

What is claimed is:
 1. A computer program product, the computer programproduct being embodied in a non-transitory computer readable storagemedium and comprising computer instructions for: determining aflight-time variable associated with an aircraft, including bydetermining the flight-time variable while the aircraft is flying,wherein the flight-time variable includes environmental information, andwherein the determining of the flight-time variable includescommunicating over a wireless channel with a local weather station;determining whether the aircraft is airworthy based at least in part onthe flight-time variable, comprising: comparing the flight-time variableto a first threshold; comparing the flight-time variable to a secondthreshold, wherein: the first threshold is less than the secondthreshold; it is determined that the aircraft is marginally airworthy inresponse to determining that the flight-time variable exceeds the firstthreshold and does not exceed the second threshold; and it is determinedthat the aircraft is not airworthy in response to determining that theflight-time variable exceeds the second threshold; in response todetermining that the aircraft is not airworthy, automatically landingthe aircraft, comprising: automatically landing the aircraft in responseto determining that the flight-time variable exceeds the secondthreshold; and in response to determining that the aircraft ismarginally airworthy, configure the aircraft with a set of one or moreconstrained settings.
 2. A system, comprising: a processor; and a memorycoupled with the processor, wherein the memory is configured to providethe processor with instructions which when executed cause the processorto: determine a flight-time variable associated with an aircraft,including by determining the flight-time variable while the aircraft isflying, wherein the flight-time variable includes environmentalinformation, and wherein the determining of the flight-time variableincludes communicating over a wireless channel with a local weatherstation; determine whether the aircraft is airworthy based at least inpart on the flight-time variable, comprising to: compare the flight-timevariable to a first threshold; and compare the flight-time variable to asecond threshold, wherein: the first threshold is less than the secondthreshold; it is determined that the aircraft is marginally airworthy inresponse to determining that the flight-time variable exceeds the firstthreshold and does not exceed the second threshold; and it is determinedthat the aircraft is not airworthy in response to determining that theflight-time variable exceeds the second threshold; automatically landthe aircraft in response to determining that the aircraft is notairworthy includes automatically landing the aircraft in response todetermining that the flight-time variable exceeds the second threshold;in response to determining that the aircraft is not airworthy,automatically land the aircraft and in response to determining that theaircraft is marginally airworthy, configure the aircraft with a set ofone or more constrained settings.
 3. The system recited in claim 2,wherein the determining of the flight-time variable includes sending,via a wireless channel to a remote server, location information of theaircraft and receiving, via the wireless channel from the remote server,the environmental information in response to the location information.4. The system recited in claim 2, wherein: the flight-time variableincludes a payload-inclusive weight; determining the payload-inclusiveweight includes: obtaining a thrust associated with a rotor while theaircraft is flying; and determining the payload-inclusive weight basedat least in part on the thrust; determining whether the aircraft isairworthy includes comparing the payload-inclusive weight to a weightthreshold; and automatically landing the aircraft in response todetermining that the aircraft is not airworthy includes automaticallylanding the aircraft in response to determining that thepayload-inclusive weight exceeds the weight threshold.
 5. The systemrecited in claim 2, wherein: the flight-time variable includes apayload-inclusive center of gravity; determining the payload-inclusivecenter of gravity includes: obtaining a thrust associated with a rotorwhile the aircraft is flying; and determining the payload-inclusivecenter of gravity based at least in part on the thrust; determiningwhether the aircraft is airworthy includes comparing thepayload-inclusive center of gravity to a center of gravity thresholdrepresented by a three-dimensional (3D) shape; and automatically landingthe aircraft in response to determining that the aircraft is notairworthy includes automatically landing the aircraft in response todetermining that the payload-inclusive center of gravity exceeds thecenter of gravity threshold represented by the 3D shape.
 6. A system,comprising: a processor; and a memory coupled with the processor,wherein the memory is configured to provide the processor withinstructions which when executed cause the processor to: determine aflight-time variable associated with an aircraft, including bydetermining the flight-time variable while the aircraft is flying,wherein the flight-time variable includes a payload-inclusive weight andenvironmental information, wherein the determining of the flight-timevariable includes communicating over a wireless channel with a localweather station, wherein determining the payload-inclusive weightincludes obtaining a thrust associated with a rotor while the aircraftis flying and determining the payload-inclusive weight based at least inpart on the thrust; determine whether the aircraft is airworthy based atleast in part on the flight-time variable, wherein determining whetherthe aircraft is airworthy includes to: compare the payload-inclusiveweight to a first weight threshold; and compare the payload-inclusiveweight to a second weight threshold, wherein the first weight thresholdis less than the second weight threshold; and in response to determiningthat the aircraft is not airworthy, automatically land the aircraft,comprises to: automatically land the aircraft in response to determiningthat the payload-inclusive weight exceeds the second weight threshold;and in response to determining that the aircraft is marginallyairworthy, configure the aircraft with a set of one or more constrainedsettings, wherein it is determined that the aircraft is marginallyairworthy in response to determining that the payload-inclusive weightexceeds the first weight threshold and does not exceed the second weightthreshold.
 7. A system, comprising: a processor; and a memory coupledwith the processor, wherein the memory is configured to provide theprocessor with instructions which when executed cause the processor to:determine a flight-time variable associated with an aircraft, includingby determining the flight-time variable while the aircraft is flying,wherein the flight-time variable includes a payload-inclusive center ofgravity and environmental information, wherein the determining of theflight-time variable includes communicating over a wireless channel witha local weather station, wherein determining the payload-inclusivecenter of gravity includes to: obtain a thrust associated with a rotorwhile the aircraft is flying; determine the payload-inclusive center ofgravity based at least in part on the thrust; comparing thepayload-inclusive center of gravity to a first center of gravitythreshold represented by a first three-dimensional (3D) shape; andcomparing the payload-inclusive center of gravity to a second center ofgravity threshold represented by a second 3D shape, wherein the firstcenter of gravity threshold is less than the second center of gravitythreshold; determine whether the aircraft is airworthy based at least inpart on the flight-time variable; in response to determining that theaircraft is not airworthy, automatically land the aircraft, comprisingto: automatically land the aircraft in response to determining that thepayload-inclusive center of gravity exceeds the second center of gravitythreshold; and in response to determining that the aircraft ismarginally airworthy, configure the aircraft with a set of one or morereduced settings, wherein it is determined that the aircraft ismarginally airworthy in response to determining that thepayload-inclusive center of gravity exceeds the first center of gravitythreshold and does not exceed the second center of gravity threshold. 8.A method, comprising: determining a flight-time variable associated withan aircraft, including by determining the flight-time variable while theaircraft is flying, wherein the flight-time variable includes apayload-inclusive center of gravity and environmental information,wherein the determining of the flight-time variable includescommunicating over a wireless channel with a local weather station, andwherein determining the payload-inclusive center of gravity includes:obtaining a thrust associated with a rotor while the aircraft is flying;determining the payload-inclusive center of gravity based at least inpart on the thrust; comparing the payload-inclusive center of gravity toa first center of gravity threshold represented by a firstthree-dimensional (3D) shape; and comparing the payload-inclusive centerof gravity to a second center of gravity threshold represented by asecond 3D shape, wherein the first center of gravity threshold is lessthan the second center of gravity threshold; determining whether theaircraft is airworthy based at least in part on the flight-timevariable; and in response to determining that the aircraft is notairworthy, automatically landing the aircraft, comprising: automaticallylanding the aircraft in response to determining that thepayload-inclusive center of gravity exceeds the second center of gravitythreshold; and in response to determining that the aircraft ismarginally airworthy, configure the aircraft with a set of one or morereduced settings, wherein it is determined that the aircraft ismarginally airworthy in response to determining that thepayload-inclusive center of gravity exceeds the first center of gravitythreshold and does not exceed the second center of gravity threshold. 9.A method, comprising: determining a flight-time variable associated withan aircraft, including by determining the flight-time variable while theaircraft is flying, wherein the flight-time variable includesenvironmental information, and wherein the determining of theflight-time variable includes communicating over a wireless channel witha local weather station; determining whether the aircraft is airworthybased at least in part on the flight-time variable, comprising:comparing the flight-time variable to a first threshold; comparing theflight-time variable to a second threshold, wherein: the first thresholdis less than the second threshold; it is determined that the aircraft ismarginally airworthy in response to determining that the flight-timevariable exceeds the first threshold and does not exceed the secondthreshold; and it is determined that the aircraft is not airworthy inresponse to determining that the flight-time variable exceeds the secondthreshold; in response to determining that the aircraft is notairworthy, automatically landing the aircraft, comprising: automaticallylanding the aircraft in response to determining that the flight-timevariable exceeds the second threshold; and in response to determiningthat the aircraft is marginally airworthy, configure the aircraft with aset of one or more constrained settings.
 10. The method recited in claim9, wherein the determining of the environmental information includessending, via a wireless channel to a remote server, location informationof the aircraft and receiving, via the wireless channel from the remoteserver, the flight-time variable in response to the locationinformation.
 11. The method recited in claim 9, wherein: the flight-timevariable includes a payload-inclusive weight; determining thepayload-inclusive weight includes: obtaining a thrust associated with arotor while the aircraft is flying; and determining thepayload-inclusive weight based at least in part on the thrust;determining whether the aircraft is airworthy includes comparing thepayload-inclusive weight to a weight threshold; and automaticallylanding the aircraft in response to determining that the aircraft is notairworthy includes automatically landing the aircraft in response todetermining that the payload-inclusive weight exceeds the weightthreshold.
 12. The method recited in claim 9, wherein: the flight-timevariable includes a payload-inclusive center of gravity; determining thepayload-inclusive center of gravity includes: obtaining a thrustassociated with a rotor while the aircraft is flying; and determiningthe payload-inclusive center of gravity based at least in part on thethrust; determining whether the aircraft is airworthy includes comparingthe payload-inclusive center of gravity to a center of gravity thresholdrepresented by a three-dimensional (3D) shape; and automatically landingthe aircraft in response to determining that the aircraft is notairworthy includes automatically landing the aircraft in response todetermining that the payload-inclusive center of gravity exceeds thecenter of gravity threshold represented by the 3D shape.
 13. A method,comprising: determining a flight-time variable associated with anaircraft, including by determining the flight-time variable while theaircraft is flying, wherein the flight-time variable includes apayload-inclusive weight and environmental information, wherein thedetermining of the flight-time variable includes communicating over awireless channel with a local weather station, and wherein determiningthe payload-inclusive weight includes obtaining a thrust associated witha rotor while the aircraft is flying and determining thepayload-inclusive weight based at least in part on the thrust;determining whether the aircraft is airworthy based at least in part onthe flight-time variable, comprising: comparing the payload-inclusiveweight to a first weight threshold; and comparing the payload-inclusiveweight to a second weight threshold, wherein the first weight thresholdis less than the second weight threshold; in response to determiningthat the aircraft is not airworthy, automatically landing the aircraft,comprising: automatically landing the aircraft in response todetermining that the payload-inclusive weight exceeds the second weightthreshold; and in response to determining that the aircraft ismarginally airworthy, configure the aircraft with a set of one or moreconstrained settings, wherein it is determined that the aircraft ismarginally airworthy in response to determining that thepayload-inclusive weight exceeds the first weight threshold and does notexceed the second weight threshold.